CN107358570A - A kind of IMAQ control method and its system - Google Patents
A kind of IMAQ control method and its system Download PDFInfo
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- CN107358570A CN107358570A CN201710523194.7A CN201710523194A CN107358570A CN 107358570 A CN107358570 A CN 107358570A CN 201710523194 A CN201710523194 A CN 201710523194A CN 107358570 A CN107358570 A CN 107358570A
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- China
- Prior art keywords
- servo
- drive system
- target location
- physical location
- sampled images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0007—Image acquisition
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
Abstract
The present invention discloses a kind of IMAQ control method, including：S1, the pid control parameter for setting servo-drive system, integral constant Ki is zero；S2, the target location Po that servo-drive system collection image is set；S3, after moving to target location Po according to pid control parameter and target location Po controls servo-drive system, obtain the physical location Pa of servo-drive system and the sampled images obtained at physical location Pa；S4, position error Ea, Ea=Pa Po obtained according to the target location Po and physical location Pa of servo-drive system；S5, according to position error Ea sampled images are compensated；A kind of IMAQ control system is also disclosed.A kind of IMAQ control method of the present invention and its system, are zero by setting pid control parameter and integral constant, reduce the dependence that IMAQ optimizes to pid parameter；Obtain again servo-drive system target location and physical location to obtain position error, the sampled images of zero position error are obtained by the method for location error compensation, it is possible to achieve fast positioning, and positioning precision is high.
Description
Technical field
The present invention relates to IMAQ field, especially a kind of IMAQ control method and its system.
Background technology
In high precision image capture systems, servo-drive system would generally produce overshoot when navigating to the top of workpiece (object)
There is one " steady-state error " in vibration or longer period, so that positioning time is long and positioning produces deviation.Solves this at present
The usual way of individual problem is：Optimization PID adjusting parameters and the integral constant that increases go to attempt to eliminate systematic steady state error, most
Delay waits reality in place afterwards, and IMAQ is carried out again after system enters target location " the mistake band of permission ".With reference to figure 1, Fig. 1
It is the control method flow chart of conventional images collection, if necessary to increase positioning precision, it is necessary to pid parameter adjustment ground very
Well, " positioning of permission misses band " is reduced, trial is eliminated " steady-state deviation " of system etc. with integral parameter.So realize just
Extremely difficult (for example, only one pid parameter can not just ensure that it is optimal substantially), will certainly increase positioning time, cause
The speed of fixed point collection declines；And can not solve the influence that " positioning steady-state deviation " is brought all the time.Conventional images acquisition control
In system, positioning is overly dependent upon adjusting parameter, positioning time long (obvious desired speed does not just think the relation of precision), can
The steady-state error of energy can not eliminate all the time！In addition, when servo-drive system is navigated to above a certain workpiece, and obtain image carry out it is high-precision
During the position information process of degree, if the position fixing process time it is oversize will necessarily make whole detection process efficiency it is low；And such as
When fruit positioning has error in itself, then data processing can be caused deviation occur, directly affect the measurement accuracy of whole equipment.
The content of the invention
In order to solve the above-mentioned technical problem, it is an object of the invention to provide a kind of image sampling efficiency high and positioning precision height
IMAQ control method；Correspondingly, a kind of IMAQ control system is also provided.
The technical solution adopted in the present invention is：A kind of IMAQ control method, comprises the following steps：
S1, the pid control parameter that servo-drive system is set, wherein, integral constant Ki is zero；
S2, the target location Po that servo-drive system collection image is set；
S3, according to the pid control parameter and the target location Po control servo-drive system move to target location Po after,
Obtain the physical location Pa of servo-drive system and the sampled images obtained at physical location Pa；
S4, position error Ea, Ea=Pa-Po obtained according to the target location Po and physical location Pa of the servo-drive system；
S5, according to the position error Ea sampled images are compensated.
Further, the step S3 includes：
S31, according to the pid control parameter and the target location Po control servo-drive system move to target location Po；
S32, the movement velocity for obtaining servo-drive system, when the movement velocity of servo-drive system is less than predetermined movement velocity, are obtained
The physical location Pa of servo-drive system is taken, and sampled images are obtained at physical location Pa.
Further, the acquisition methods of the predetermined movement velocity are：
Predetermined movement velocity is obtained according to the frame per second of camera and image procossing required precision.
Further, the step S5 includes：
According to the position error Ea sampled images are carried out with equivalent translation to realize compensation.
Another technical scheme of the present invention is：A kind of IMAQ control system, including：
Pid parameter setting unit, for setting the pid control parameter of servo-drive system, wherein, integral constant Ki is zero；
Target location setting unit, for setting the target location Po of servo-drive system collection image；
Physical location and sampled images acquiring unit, for according to the pid control parameter and target location Po controls
After servo-drive system processed moves to target location Po, obtain the physical location Pa of servo-drive system and at physical location Pa obtain adopt
Sampled images；
Position error acquiring unit, positioning is obtained for the target location Po according to the servo-drive system and physical location Pa
Error E a, Ea=Pa-Po；
Image compensation unit, for being compensated according to the position error Ea to the sampled images.
Further, the physical location and sampled images acquiring unit include：
Motion-control module, for according to the pid control parameter and target location Po control servo-drive system motions
To target location Po；
Movement velocity, position and image collection module, for obtaining the movement velocity of servo-drive system, when the fortune of servo-drive system
When dynamic speed is less than predetermined movement velocity, the physical location Pa of servo-drive system is obtained, and sample graph is obtained at physical location Pa
Picture.
Further, the acquisition methods of the predetermined movement velocity are：
Predetermined movement velocity is obtained according to the frame per second of camera and image procossing required precision.
The beneficial effects of the invention are as follows：A kind of IMAQ control method in the present invention, by set pid control parameter and
Integral constant is zero, is not re-introduced into integral constant, it is allowed to the position error of wider range be present, reduces IMAQ and PID is joined
The dependence of number optimization；Obtain again servo-drive system target location and physical location to obtain position error, mended by position error
The method repaid obtains the sampled images of zero position error, can not only realize fast positioning, improves sampling efficiency, and positioning precision
Height, the picture centre of sampled images are equivalent to the picture centre of the sampled images obtained during zero position error.A kind of in addition, image
Acquisition control system, the pid control parameter of servo-drive system is set by pid parameter setting unit and integral constant Ki is zero；No
It is re-introduced into integral constant, it is allowed to the position error of wider range be present, reduce the dependence that IMAQ optimizes to pid parameter；Again
The target location of servo-drive system collection image is obtained by target location setting unit, physical location and sampled images acquiring unit
Po, physical location Pa and the sampled images obtained at physical location Pa；And positioning is obtained by position error acquiring unit and missed
Poor Ea；Sampled images are compensated according to position error Ea finally by image compensation unit；Obtain adopting for zero position error
Sampled images, fast positioning can be not only realized, improve sampling efficiency, and positioning precision is high, the picture centre of sampled images is of equal value
The picture centre of the sampled images obtained when zero position error.
Brief description of the drawings
The embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the control method flow chart of conventional images collection；
Fig. 2 is an a kind of specific embodiment method flow diagram of IMAQ control method in the present invention.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.
A kind of IMAQ control method, comprises the following steps：
S1, the pid control parameter that servo-drive system is set, wherein, integral constant Ki is zero, namely does not eliminate steady-state error,
Allow the position error that wider range be present, reduce the dependence that IMAQ optimizes to pid parameter；
S2, the target location Po that servo-drive system collection image is set；
S3, after moving to target location Po according to pid control parameter and target location Po controls servo-drive system, obtain servo
The physical location Pa of system and the sampled images obtained at physical location Pa；
S4, position error Ea, Ea=Pa-Po obtained according to the target location Po and physical location Pa of servo-drive system；
S5, according to position error Ea sampled images are compensated, obtain the sampled images of zero position error.
In the present invention, after pid control parameter is set, obtained by obtaining target location and the physical location of servo-drive system
Position error, then the sampled images for method zero position error of acquisition for passing through location error compensation are taken, can not only be realized quick
Positioning, sampling efficiency is improved, and positioning precision is high, the picture centre of sampled images is equivalent to the sampling obtained during zero position error
The picture centre of image.
Usually, the motion of servo-drive system, PID controller (proportional integral differential control are controlled using PID controller
Device) it is a common backfeed loop part in Industry Control Application, by proportional unit P, integral unit I and differentiation element D
Composition.The basis of PID control is ratio control；Integration control can eliminate steady-state error, but may increase overshoot；Differential control can
Accelerate Great inertia system response speed and weaken overshoot trend.
PID controller is made up of proportional unit (P), integral unit (I) and differentiation element (D).It inputs e (t) and output u
(t) relation is：
The bound integrated in u (t)=kp [e (t)+1/TI ∫ e (t) dt+TD*de (t)/dt] formula is 0 and t respectively；
Therefore its transmission function is：G (s)=U (s)/E (s)=kp [1+1/ (TI*s)+TD*s]；
Wherein kp is proportionality coefficient；TI is integration time constant；TD is derivative time constant.
Signified integral constant Ki of the invention is integration time constant TI, and it is zero to set it, it is allowed to which system has stable state
Error, reduce the dependence to pid control parameter；The sampled images of zero position error are obtained by location error compensation again, are reduced
Time needed for image sampling.
With reference to figure 2, Fig. 2 is an a kind of specific embodiment method flow diagram of IMAQ control method in the present invention, if
After having put the pid control parameter of servo-drive system, because integral constant is zero, then positioning allowable error band is wider, to PID control
The dependence of parameter reduces；Set servo-drive system to gather the target location of image, instructed according to pid control parameter and target location
Control servo-drive system move to target location after, wait it is to be exercised actually accomplish (steady-state deviation that may be present), capture image, and
The image that the physical location of servo-drive system and candid photograph are arrived when capturing is obtained, obtaining positioning according to target location and physical location misses
Difference, and the sampled images captured are compensated according to position error, obtain the sampled images of zero position error；Utilize the present invention
Control method can not only improve the locating speed and precision of sampled images, can also directly improve the efficiency of IMAQ.
Further, according to position error Ea sampled images are carried out with equivalent translation to realize compensation.
As the further improvement of technical scheme, step S3 includes：
S31, according to pid control parameter and target location Po control servo-drive system move to target location Po；
S32, the movement velocity V for obtaining servo-drive system, when the movement velocity V of servo-drive system is less than predetermined movement velocity Vo
When, the physical location Pa of servo-drive system is obtained, and sampled images are obtained at physical location Pa；Further, according to camera
Frame per second and image procossing required precision obtain predetermined movement velocity Vo, it is determined that after the required precision of system image procossing, root
According to the frame per second of the selected camera for IMAQ, it is determined that corresponding predetermined movement velocity Vo, to ensure to capture in camera
When (movement velocity V is captured when being less than predetermined movement velocity Vo) do not produce " smear " phenomenon, it is ensured that sampled images it is clear
Degree.
A kind of IMAQ control system, including：
Pid parameter setting unit, for setting the pid control parameter of servo-drive system, wherein, integral constant Ki is zero；
Target location setting unit, for setting the target location Po of servo-drive system collection image；
Physical location and sampled images acquiring unit, for controlling servo system according to pid control parameter and target location Po
After system moves to target location Po, the physical location Pa of servo-drive system and the sampled images obtained at physical location Pa are obtained；
Position error acquiring unit, position error is obtained for the target location Po according to servo-drive system and physical location Pa
Ea, Ea=Pa-Po；
Image compensation unit, for being compensated according to position error Ea to sampled images.
A kind of IMAQ control system, the pid control parameter and product of servo-drive system are set by pid parameter setting unit
It is zero to divide constant Ki；It is not re-introduced into integral constant, it is allowed to the position error of wider range be present, reduce IMAQ and PID is joined
The dependence of number optimization；Servo-drive system is obtained by target location setting unit, physical location and sampled images acquiring unit again to adopt
Collect target location Po, the physical location Pa of image and the sampled images obtained at physical location Pa；And obtained by position error
Unit is taken to obtain position error Ea；Sampled images are compensated according to position error Ea finally by image compensation unit；
To the sampled images of zero position error, fast positioning can be not only realized, improves sampling efficiency, and positioning precision is high, sample graph
The picture centre of picture is equivalent to the picture centre of the image obtained during zero position error.
As the further improvement of technical scheme, physical location and sampled images acquiring unit include：
Motion-control module, for moving to target position according to pid control parameter and target location Po controls servo-drive system
Put Po；
Movement velocity, position and image collection module, for obtaining the movement velocity V of servo-drive system, when servo-drive system
When movement velocity V is less than predetermined movement velocity Vo, the physical location Pa of servo-drive system is obtained, and acquisition is adopted at physical location Pa
Sampled images；Further, predetermined movement velocity Vo is obtained according to the frame per second of camera and image procossing required precision, to ensure in phase
Machine does not produce " smear " phenomenon when candid photograph, improves the definition of sampled images.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (7)
1. a kind of IMAQ control method, it is characterised in that comprise the following steps：
S1, the pid control parameter that servo-drive system is set, wherein, integral constant Ki is zero；
S2, the target location Po that servo-drive system collection image is set；
S3, after moving to target location Po according to the pid control parameter and target location Po controls servo-drive system, obtain
The physical location Pa of servo-drive system and the sampled images obtained at physical location Pa；
S4, position error Ea, Ea=Pa-Po obtained according to the target location Po and physical location Pa of the servo-drive system；
S5, according to the position error Ea sampled images are compensated.
2. IMAQ control method according to claim 1, it is characterised in that the step S3 includes：
S31, according to the pid control parameter and the target location Po control servo-drive system move to target location Po；
S32, the movement velocity for obtaining servo-drive system, when the movement velocity of servo-drive system is less than predetermined movement velocity, acquisition is watched
The physical location Pa of dress system, and sampled images are obtained at physical location Pa.
3. IMAQ control method according to claim 2, it is characterised in that the acquisition side of the predetermined movement velocity
Method is：
Predetermined movement velocity is obtained according to the frame per second of camera and image procossing required precision.
4. the IMAQ control method according to any one of claims 1 to 3, it is characterised in that the step S5 includes：
According to the position error Ea sampled images are carried out with equivalent translation to realize compensation.
A kind of 5. IMAQ control system, it is characterised in that including：
Pid parameter setting unit, for setting the pid control parameter of servo-drive system, wherein, integral constant Ki is zero；
Target location setting unit, for setting the target location Po of servo-drive system collection image；
Physical location and sampled images acquiring unit, for being watched according to the pid control parameter and target location Po controls
After dress system moves to target location Po, the physical location Pa of servo-drive system and the sample graph obtained at physical location Pa are obtained
Picture；
Position error acquiring unit, position error is obtained for the target location Po according to the servo-drive system and physical location Pa
Ea, Ea=Pa-Po；
Image compensation unit, for being compensated according to the position error Ea to the sampled images.
6. IMAQ control system according to claim 5, it is characterised in that the physical location and sampled images obtain
Unit is taken to include：
Motion-control module, for moving to mesh according to the pid control parameter and target location Po controls servo-drive system
Cursor position Po；
Movement velocity, position and image collection module, for obtaining the movement velocity of servo-drive system, when the motion speed of servo-drive system
When degree is less than predetermined movement velocity, the physical location Pa of servo-drive system is obtained, and sampled images are obtained at physical location Pa.
7. IMAQ control system according to claim 6, it is characterised in that the acquisition side of the predetermined movement velocity
Method is：
Predetermined movement velocity is obtained according to the frame per second of camera and image procossing required precision.
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| US4989103A (en) * | 1987-03-03 | 1991-01-29 | Unisys Corp. | Adjustment of position slope for disk drive servo using half-track point |
| CN103929635A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Binocular vision image compensation method used when UUV rocks vertically and horizontally |
| CN106371453A (en) * | 2016-05-27 | 2017-02-01 | 上海铸天智能科技有限公司 | Visual servo method for use in the automatic line inspection by multi-rotor unmanned plane |
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Application publication date: 20171117 |